export_qpoases_interface.hpp

Go to the documentation of this file.

/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#ifndef ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP
#define ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP

#include <acado/code_generation/export_templated_file.hpp>

BEGIN_NAMESPACE_ACADO

class ExportQpOasesInterface
{
public:

        ExportQpOasesInterface( const std::string& _headerFileName,
                                                        const std::string& _sourceFileName,
                                                        const std::string& _commonHeaderName = "",
                                                        const std::string& _realString = "real_t",
                                                        const std::string& _intString = "int",
                                                        int _precision = 16,
                                                        const std::string& _commentString = std::string()
                                                        );

        virtual ~ExportQpOasesInterface()
        {}

        returnValue configure(  const std::string& _prefix,
                                                        const std::string& _solverDefine,
                                                        const int nvmax,
                                                        const int ncmax,
                                                        const int nwsrmax,
                                                        const std::string& _printLevel,
                                                        bool _useSinglePrecision,

                                                        const std::string& _commonHeader,
                                                        const std::string& _namespace,
                                                        const std::string& _primalSolution,
                                                        const std::string& _dualSolution,
                                                        const std::string& _sigma,
                                                        bool _hotstartQP,
                                                        bool _externalCholesky,
                                                        const std::string& _qpH,
                                                        const std::string& _qpR,
                                                        const std::string& _qpg,
                                                        const std::string& _qpA,
                                                        const std::string& _qplb,
                                                        const std::string& _qpub,
                                                        const std::string& _qplbA,
                                                        const std::string& _qpubA
                                                        );

        returnValue exportCode();

private:

        ExportTemplatedFile qpoHeader;
        ExportTemplatedFile qpoSource;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP